Surgical guidance system with low interference metal support structure

ABSTRACT

In accordance with the invention, a reliable apparatus for guiding an ablation probe to a target location inside a human body is thus provided. The apparatus allows incorporation of a conventional metal operating room table, but further comprises a substantially non-conductive separation structure positioned over the metal operating room table and underneath a horizontally oriented electromagnetic field generator. The resultant structure is adapted to support a human body in the prone or supine position over the operating table. Further support padding may also be provided. The electromagnetic field generator creates an electromagnetic field that extends through the torso of said human body positioned over the electromagnetic field generator. An ultrasound probe and ablation probe interacts with the electromagnetic field to generate positional information that is processed by a computing device to generate a graphic representation of location information on a display device.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of Provisional Patent ApplicationNo. 62/059,856, filed Oct. 4, 2014, and entitled Surgical GuidanceSystem with Low Interference Metal Support Structure, the disclosure ofwhich are hereby incorporated herein by reference.

TECHNICAL FIELD

The invention relates to guiding surgical instruments during a procedurewhere the anatomical feature operated upon is not exposed to view andthe patient is positioned in the supine or prone position.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

(Not applicable)

BACKGROUND OF THE INVENTION

Today, surgeons use various forms of imaging to make possible or assistin a wide range of surgical procedures. Imaging allows for more preciseoperations that reduce collateral damage and shorten recovery time aswell as enhance survival rates.

Imaging systems may use a wide range of technologies. These imagingsystems are of particular value in the performance of minimally invasivesurgical procedures, where the desire to minimize damage to healthytissue is promoted by minimizing the width of surgical instruments andintroducing them into the body through elongated narrow diameterguidance and support members.

For example, surgical macerators may be supported at the end of a cableand sheath mechanical drive system where the cable and sheath serves theadditional function of driving and guiding the macerator to the pointwhere the surgery is to be performed. Such a macerator may include afiber optic bundle with optics for imaging the vicinity of the tissuesnear the macerator and conveying that image to, for example, a displaysystem with a n LCD display for presenting the images to the surgeon,allow him to quickly and reliably operate on the unwanted tissue.

Other approaches involve the introduction of the end of a fiber opticbundle with imaging optics into an existing body cavity or channel, andtransmitting the image to the other end of the fiber optic bundle, whereit may be received by focusing optics and an image sensor, such as a CCDtransducer. Such devices may be of small caliber, for example, narrowenough to enter the nose and be introduced into the throat.

Still another possibility is to create a cavity in the body, for exampleby insufflating the abdominal cavity. One may then use the cavity as animaging space allowing an optical camera to inform the surgeon withoptically generated images of the position and orientation of theinstrument and the anatomical feature being operated upon, thus allowingthe surgeon to perform the surgery.

An different dimension of visualization may be achieved through the useof ultrasound imaging. For example, an ultrasound transducer may bepositioned against the surface of an organ to generate an image of theinterior of the organ. Such imaging may be used to show anatomicalfeatures inside the organ and the position of instruments, such as anablation probe.

Such systems are of particular value during surgical procedures as theyincrease the amount of information available to the surgeon during asurgical procedure, such as the ablation of an undesired anatomicalartifact, such as a uterine fibroid.

An alternate approach to imaging is the use of electromagnetic sensorsystems to determine the position and orientation of surgicalinstruments. Such systems are typically employed in conjunction withsuch procedures as hand surgery. Generally, such systems employelectromagnetic position information components at the point of theinstrument. The position information components are mechanically fixedto the surgical instrument. The position information components arecoupled to an electromagnetic field generator. Typically theelectromagnetic field generator comprises a flat planar member withelectromagnetic antennae distributed relative to its surface. Theantennae are electromagnetically coupled to the position informationcomponents, resulting in the generation of phase and amplitudeinformation that is a function of the position and orientation of theposition information components.

This information is processed by a computer associated with the system,for example a personal computer or other dedicated central processingunit, microprocessor, or the like. Information indicating the absoluteposition and orientation of the position information components and thesurgical instrument may be generated in such systems. Because theposition information components are fixed to the instrument, positionand orientation information for the position information components canbe transformed into position and orientation information for thesurgical instrument.

In such systems, the computer may also be provided with a model of theshape of the instrument, for example a model generated by a computeraided design program. The model may be used by the computer to generatean image of the instrument, of a diagrammatic representation ofoperative aspects of the instrument. After processing the informationfrom the electromagnetic field generator, the computer can thus producerepresentations of the instrument in space, which can be combined withanatomical image information from the ultrasound subsystem (or otherimaging device or devices) to guide the surgeon.

Such an electromagnetic field generator is typically mounted verticallydisplaced upwardly above the top surface of the operating table, forexample in connection with head and neck surgery, positioned above thetable, and creating a field horizontally displaced from the generator(but closely adjacent thereto because of the relatively small dimensionof the anatomy) in the head and neck. This allows the generation of animage, for example in the case of head surgery, corresponding toinstrument position on a display field corresponding to a profile viewof the head of the patient. In this respect, the electromagnetic fieldgenerator may be viewed as an analog of an x-ray plate of the typeplaced on one side of the head of the patient (for example the rightside of the head of the patient) for receiving x-rays originating fromthe other side (for example the left side of the head of the patient).

SUMMARY OF THE INVENTION

While the performance of such systems has been recognized as asignificant advance, looked at another way, such systems actually sufferfrom limitations intrinsic to their strength, that is being mounted onthe side of a patient allowing easy access to the anatomy being operatedupon. However, such arrangement will not work well to image the anatomyduring a surgical procedure on an organ in the torso, for example theuterus, because of the width of the torso, which is substantially largerthan the head or neck.

In accordance with the invention, it is proposed to have a patient layon top of a flat horizontal electromagnetic field generator. Such anarrangement would also, in many cases, make possible more accurate andconvenient imaging. However, initial attempts at placement of theelectromagnetic field generator under the patient resulted in poorimaging. In accordance with the invention, there is provided ahorizontal mounted electromagnetic field generator capable of generatinghigh-quality images substantially on a par with those generated by sidepositioned field generators used in head and neck surgery, but for asupport apparatus that could separate the field generator from the metaloperating room table to prevent interference as well as support theweight of a patient while protecting the horizontal electromagneticfield generator from damage.

In the case of head and neck surgery, placement of a vertically mountedelectromagnetic field generator having a length and a width commensuratewith the anatomy related to a particular procedure is convenient becausethe thickness of the electro-magnetic field generator is relativelysmall. This allows space creating considerable freedom of movement forthe surgeon.

As alluded to above, when operating on the torso, this is not apractical solution for several reasons. First, most operating tables areof relatively narrow dimension generally matching the width of thepatient when the patient is positioned lying down with his back restingon the table. An electromagnetic field generator cannot fit on aconventional narrow operating table. Moreover, even if it could, thesurgeon and personnel assisting in the procedure would not have closeaccess to the patient. Another potential problem is that an imagingdevice placed on the side of the patient will block access to certainparts of the body, though this may be less of a problem with respect toprocedures involving accessing the site of the operation from the top ofthe reclining patient.

There also exists the potential that greater distances, between theelectromagnetic field generator and the anatomy involved in theprocedure, may reduce the accuracy of the system. In the c will will aseof an electromagnetic field generator located, for example adjacent theleft side of a patient in the supine position, such greater distancesmay be presented with respect to placement of instruments on the rightside of the patient. Accordingly, in accordance with the invention, theelectromagnetic field generator has been located in a planesubstantially parallel to the plane of the operating table. However,while electromagnetic field generators operate properly when physicianin a plane perpendicular to the operating table, mere relocation below apatient in the supine or prone position introduces errors into thesystem. In accordance with the invention, proper operation of theelectromagnetic field generator is nevertheless achieved. Thus theinvention provides significant advantages by removing limitationsintrinsic to the electromagnetic field generator being placed on theside of a patient.

The option of placing a patient in the supine position over a flathorizontal electromagnetic field generator resting on the operatingtable, in many circumstances, presents advantages, including allowingfor more accurate and convenient imaging, the absence of an obstructionin the operating area, eliminating the need for wider operating tables,and simplifying and minimizing the physical structures in the operatingarea, thus improving likelihood of maintaining a sterile field. At thesame time, the inventive system provides the additional value ofprotecting the horizontal electromagnetic field generator from damage.The present invention thus fulfills existing needs in the field ofmedicine and provides substantial advantages.

While horizontally oriented electromagnetic field generators are knownin connection with magnetic tracking systems such as those sold byNorthern Digital Inc., of Waterloo, Ontario, such systems are known tobe problematic, particularly in connection with stray electromagneticfields, and the placement of various materials adjacent theelectromagnetic field generator. These systems incorporate tabletopelectromagnetic field generators, also referred to as tabletop fieldgenerators. Insofar as such systems are known to exhibit problems,manufacturers have sought to address this by the provision of barrierswhich have the object of reducing tracking distortions caused byconductive or ferromagnetic materials located below the electromagneticfield generator. Nevertheless, in practice, it has been discovered bythe applicants that such systems nevertheless suffer from trackingproblems when integrated into overall surgical systems.

In accordance with the invention, it has been discovered thatreliability and error issues associated with horizontally positionedelectromagnetic field generators, rather than owing their origins toconsequences of the integration of the electromagnetic field generatorinto overall systems including ultrasound transducers and softwareprocessing of collective position data, appear not to involve softwareissues at the heart of the problem. Rather, inventors have discoveredthat unwanted system characteristics, appear to be the result ofinteractions with structural elements in the operating table,notwithstanding the provision of a barrier.

It is believed that these structural elements have electrical and/orferromagnetic characteristics which degrade performance of the overallsystem. Accordingly, the invention contemplates isolation of theelectromagnetic field generator from such structural elements. Moreparticularly, in accordance with the preferred embodiment of theinvention, a spatial isolation member is employed.

The use of the spatial isolation member also has the advantage ofraising the operating field, which is advantageous in so far as thestandard height of operating tables currently in use is the result ofhistorical decisions made at a time when the average height of anindividual was lower than today. Higher field height is thus moresuited, on average, to today's surgeons, not only for a horizontallymounted electromagnetic field generator, but for a support apparatusthat could separate the field generator from the metal operating roomtable to prevent interference as well as support the weight of apatient.

In accordance with the invention, an apparatus for guiding an ablationprobe to a target location inside a human body is provided. Theapparatus comprises a metal operating room table and a substantiallynon-conductive separation structure positioned over the metal operatingroom table. The apparatus comprises an electromagnetic field generator,which is located over the substantially non-conductive separationstructure and adapted to support a human body. The electromagnetic fieldgenerated is positioned between the human body and the metal operatingroom table. The electromagnetic field generator creates anelectromagnetic field that extends through, for example, the torso ofthe human body that has been positioned over the electromagnetic fieldgenerator. The apparatus comprises an ultrasound probe that interactswith the aforementioned electromagnetic field to generate ultrasoundprobe positional information. The ultrasound probe is adapted togenerate an ultrasound image of a region having a known spatialrelationship to the probe.

The apparatus comprises an ablation probe that interacts with theelectromagnetic field to generate ablation probe positional information.A computing device is responsive to the ultrasound probe positionalinformation. The ablation probe positional information generates agraphic representation showing the positional relationship between theultrasound image and the ablation probe to guide placement of theablation probe into an anatomical location imaged by the ultrasoundprobe. The apparatus additionally comprises a display device responsiveto the computing device so as to display a graphic representation.

In accordance with the invention, the display may comprise a guidanceanimation displayed on the display device, which is generated by thecomputing device, which processes the guidance information. Real-timecorrectional information can be viewed by a user in the guidanceanimation.

The substantially non-conductive separation structure may be a foamrubber or foam plastic member and may be formed integrally with theelectromagnetic field generator.

The electromagnetic field generator may be in the form of a planarmember having dimensions that are roughly commensurate with the area ofthe body to be imaged.

The apparatus may comprise a cushioned layer disposed over saidelectromagnetic field generator and it may comprise a nonconductiveprotective member disposed over the electromagnetic field generator andcushioning disposed over the nonconductive protective member.

The apparatus may comprise adjustable features including but not limitedto, a removable section or sections, for example, underneath the head,the feet, and/or the legs of the human body.

The orientation of the electromagnetic field generator may generallyalign with a plane that is roughly parallel to the ground and orientedabove and parallel to the plane defined by the surface of the operatingroom table.

BRIEF DESCRIPTION THE DRAWINGS

The operation of the invention will become apparent from the followingdescription taken in conjunction with the drawings, in which:

FIG. 1 is an isometric view of the inventive operating room tabletopfield generator housing assembly as a part of an operating room table;

FIG. 2 is an isometric view similar to the view of FIG. 1, but with thetop face member removed for clarity of illustration, exposing internalcomponents of the inventive system;

FIG. 3 is an isometric view similar to that of FIG. 1 showing the topface member hinged open to allow placement of an electromagnetic fieldgenerator;

FIG. 4 is an isometric view including the top cushions of the inventivetable system and forming a completed assembly;

FIGS. 5-7 illustrate components of the inventive system; and

FIG. 8 is an isometric view illustrating the system of the invention inuse.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to FIGS. 1-4, with particular attention to FIG. 1, theinventive operating room table, which is particularly adapted forhousing an electromagnetic field generator in a unitary assembly, may beunderstood. The operating room table assembly 10, which functions tohouse a tabletop electromagnetic field generator 12, has the overallshape, when assembled, of a rectangular solid as seen in FIG. 2. It maybe supported on any suitable support, such as the platform formed byrectangular solid 14, as illustrated, or four table legs adapted toroll, for example, into and out of an operating room. Electromagneticfield generator 12 may be any commercial device in this class, includingthe Aurora system manufactured by Northern Digital Inc.

Table assembly 10 comprises an operating table of, for example,conventional design. This may be a steel carriage with wheels orrectangular base support 14, supporting a platform member 16. Platformmember 16 comprises a leg supporting portion 18 and a head supportingportion 20.

In accordance with the preferred embodiment, platform member 16 is madeof a rigid strong construction capable of supporting the human body andwith a rigidity which enables leg supporting portion 18 to support theoutstretched legs of an individual. In accordance with the constructionof operating tables of the type which are commonly on the market,platform member 16 may be made of steel, for example steel supportingmembers having, for example, the configuration of cylindrical tubes,rectangular tubes, elongated orthogonal members joined along theirlength forming an L-beam, I-beam construction and so forth. If desired,leg supporting portion 18 and head supporting portion 20 may be made torotate on a hinge, allowing them to rest hanging down in the verticalposition. This allows the operating room table to take up minimal spacewhen not in use. At the same time, means may be provided for suchhinging leg and head supporting portions 18 and 20 to be locked in thehorizontal position (as illustrated) to support the head and legs.

In accordance with the invention, it is contemplated that support 14 andplatform member 16 may together comprise a conventional operating roomtable. More particularly, it is one of the objects of the presentinvention to provide support structure to be used with a conventionaloperating table to enable use of an electromagnetic field generatorwhile still preventing inaccuracies or other unreliability in thereadings from the system associated with the electromagnetic fieldgenerator.

The torso of the patient is supported by central portion 22. Referringto FIGS. 1 and 3, central portion 22 is designed to supportelectromagnetic field generator 12. Referring to FIGS. 5-7, centralportion 22 supports a central support member 23. Central support member23 includes a well 24 which is configured to receive electromagneticfield generator 12. The portion of central support member 23 whichsupports electromagnetic field generator 12 has a thickness 25 greaterthan ¼ inch, preferably greater than ½ inch and most preferably greaterthan three-quarters of an inch, although this thickness will varydepending on the characteristic of the electromagnetic field generatorand other associated system components. A pair of steps 26 and 28 (FIG.2) define the lengthwise limits of well 24, and have a height whichsubstantially matches the thickness of electromagnetic field generator12.

A head support member 32 is positioned on one side of central supportmember 23 to provide support for the head of the patient. This allowscentral support member 23 to lie flat across steps 26 and 28, andelectromagnetic field generator 12. As shown in FIG. 3, such placementmay be facilitated by an optional hinge 33, which joins the main bodyportion of central support member 23 and top face member 36. Hinge 33may be made of vinyl-coated fabric or any suitable material. A legsupport member 30 is positioned on the opposite side of central supportmember 23 to provide comfortable support for the legs of the patient.

In accordance with the invention, it is contemplated that supportmembers 23, 30 and 32 will be made of relatively rigid material, such asa rigid foam plastic. Alternatively, foam plastic with relatively littleflexibility, for example high density foam rubber may be used. However,lighter materials are preferred because they are easier to handle. Inaccordance with the invention, support members 23, 30 and 32 are coveredwith a suitable outer covering, such as vinyl or other plastic material.While a textile may be used, a plastic covering is preferred because ofthe ease with which the same may be cleaned and because it serves as abarrier which prevents contamination of the internal support coremembers forming support members 23, 30 and 32.

In accordance with a preferred embodiment of the invention, it iscontemplated that a set of cushions will be put over support members 23,30 and 32. Such cushions are secured to their respective support membersby mating strips of Velcro® hook and loop adhesion fabric which areadhered to the facing sides of the support members and their respectivecushions. More particularly, adhesion fabric strips 34 are secured tothe top face 36 of central support member 23. Similarly, adhesion fabricstrips 40 and 38 are secured to head and leg support members 32 and 30,respectively.

In similar fashion, head support member 32 is secured to central supportmember 23 by adhesion fabric 42 on head support member 32 and adhesionfabric 44 on central support member 23. Leg support member 30 is securedto central support member 23 by adhesion fabric 46 on leg support member30 and adhesion fabric 48 on central support member 23. Likewise, therigidity and stability of the structure may be insured by includingmating adhesion fabric strips at all interfaces between support membersand other support members, cushions and other cushions and interfacesbetween cushions and support members.

More particularly, the inventive table assembly 10 may include a headcushion 50, a central cushion 52 and a leg cushion 54, thus completingthe structure of the inventive operating table 56. Head cushion 50,central cushion 52 and leg cushion 54 may be made of any suitablecushioning material, such as flexible foam rubber, flexible foam plasticor any other material suitable for cushioning, bedding or other flexiblesupport. In accordance with the invention, it is contemplated that headcushion 50, central cushion 52 and leg cushion 54 will be made of a moreflexible, softer material then central, head and leg support members 23,32 and 30. The requirement for cushions 50-54 is of a soft feelingcushioning member. On the other hand the requirements for central, legand head support members 23, 30 and 32 are for no or low flexibility astheir primary function is to support electromagnetic field generator 12in a desired position.

As alluded to above, when it is desired to use the inventive system,support members 23, 30 and 32 are placed on a conventional operatingtable, with the various elements optionally but preferably held togetherby Velcro® type joining members. Next, top face member 36 is hingedupwardly to the position shown in FIG. 3, by putting the fingers throughcutout 56 and pulling upwardly against indentation 58 (FIG. 6).Electromagnetic field generator 12 is then placed in position asillustrated. Top face member 36 is hinged downwardly overelectromagnetic field generator 12 to the position illustrated inFIG. 1. The assembly is then ready to receive the head cushion 50,central cushion 52 and leg cushion 54 which are secured in place byVelcro® type joining members, as detailed above. The system then takesthe configuration shown in FIG. 4, and is ready to receive patient 60 asillustrated in FIG. 8.

Referring to FIG. 8, the operation of the inventive operating roompatient supporting table housing an electromagnetic field generatorhousing assembly 10 may be understood. A patient 60 may be positioned inthe supine position lying on the operating room table above theelectromagnetic field generator 12 such that the torso 62 of patient 60is positioned directly above the horizontal field generator 12. Whenturned on, the horizontal field generator 12 produces an electromagneticfield 64 which is used in the generation of position and orientationinformation in three dimensions. A probe 66, for example an ablationprobe 66, is inserted into, for example, the insufflated abdominalcavity of patient 60. Probe 66 carries a number of position informationcomponents, for example position detectors 68, which may be coupled to acomputer 70. Computer 70 produces an image of a target location, animage of the physiology (for example, a physiological image generated byan ultrasound probe 74, where ultrasound probe position and orientationis detected by detectors 76) an image of probe 66 on monitor 72 togetherwith an image of the physiology. A transducer 68, which may be mountedon or contained within probe 66 interacts with horizontal fieldgenerator 12, through electromagnetic field 64, generates signalscorresponding to a set of positional information coupled to computer 70.The positional information is interpreted by a computer 70 which thendisplays images of probe 66 (or optionally an avatar representing thestate of a critical functionality) and positional information on thephysiological structure of interest on monitor 72.

Thus, computer 70 combines the ultrasound probe positional informationwith the ablation probe positional information to generate an imagewhich can be combined with a target avatar, to create a guidanceanimation which may be displayed in addition to and/or instead of imageinformation on computer monitor 72. In accordance with the invention,guidance system animation and/or images are viewed by the surgeon duringa procedure, for the purpose of assisting with the manipulation ofablation probe 66 and ultrasound probe 74.

After an operation has been completed, the various components of theoperating table may be removed and stored separately, and the operatingtable used in a conventional fashion until the inventive system is againrequired or desired.

Modifications of the particular structures disclosed are within theintended scope of the invention. The compartment forming support members23, 30 and 32 may be made from foam material as disclosed above inaccordance with a preferred embodiment, or alternatively, plastic, wood,or a non-conductive composite material.

While illustrative embodiments of the invention have been described, itis noted that various modifications will be apparent to those ofordinary skill in the art in view of the above description and drawings.Such modifications are within the scope of the invention which islimited and defined only by the following claims.

What is claimed:
 1. Apparatus for guiding an ablation probe to a target location inside a human body comprising: (a) a metal operating room table; (b) a substantially non-conductive separation structure positioned over said metal operating room table; (c) an electromagnetic field generator, disposed over said substantially non-conductive separation structure and adapted to directly or indirectly support a human body and be positioned between said human body and said metal operating room table, said electromagnetic field generator generating an electromagnetic field at least in the space above said electromagnetic field generator, whereby said electromagnetic field extends through the torso of said human body positioned over said electromagnetic field generator; (d) an ultrasound probe adapted to generate an ultrasound image of a region having a known spatial relationship to said ultrasound probe; (e) a first position information component associated with said ultrasound probe, said first position information component interacting with said electromagnetic field to generate ultrasound probe positional information; (f) an ablation probe adapted to ablate a volume of tissue; (g) a second position information component associated with said ablation probe, said second position information component interacting with said electromagnetic field to generate ablation probe positional information; (f) a computing device responsive to said ultrasound probe positional information and said ablation probe positional information to generate a graphic representation showing the positional relationship between said ultrasound image and said ablation probe to guide placement of said ablation probe into an anatomical location imaged by said ultrasound probe; and (g) a display device responsive to said computing device to display said graphic representation and said ultrasound image.
 2. Apparatus as in claim 1, further comprising: (h) a composite guidance image displayed on said display device, said composite guidance image generated by said computing device processing from said probe and ultrasound positional information, whereby real-time position information for said ablation probe relative to real time information for tissue being imaged by said ultrasound probe can be viewed by a user.
 3. Apparatus as in claim 1, wherein said substantially non-conductive separation structure is a foam rubber member.
 4. Apparatus as in claim 1, wherein said substantially nonconductive separation structure is formed integrally with said electromagnetic field generator.
 5. Apparatus as in claim 1, wherein said substantially non-conductive separation structure has a thickness between ¼ inch and seven inches in thickness.
 6. Apparatus as in claim 1, wherein said substantially non-conductive separation structure has a thickness between ½ inch and seven inches in thickness.
 7. Apparatus as in claim 1, further comprising a nonconductive protective member disposed over said electromagnetic field generator and cushioning disposed over said nonconductive protective member.
 8. Apparatus as in claim 1, further comprising one or more removable features selected from the group consisting of removable of a section underneath the head of said human body; a section underneath the feet; and a section underneath the legs.
 9. Apparatus as in claim 1, wherein the orientation of said electromagnetic field generator generally aligns with a plane that is roughly parallel to the ground and orientated above and parallel to the plane defined by the surface of said operating room table.
 10. Apparatus as in claim 9, wherein said electromagnetic field generator is in the form of a planar member having dimensions that roughly commensurate with the area of the body to be imaged. (h) said electromagnetic field generator being disposed inside a protective pocket encompassed by a nonconductive protective member; and (i) said nonconductive protective member being disposed above said substantially nonconductive separation structure.
 11. Apparatus as in claim 10, further comprising one or more removable features selected from the group consisting of removable of a section underneath the head of said human body; a section underneath the feet; and a section underneath the legs.
 12. Apparatus as in claim 11, further comprising: (j) a guidance animation displayed on said display device generated by said computing device processing said guidance information wherein real-time correctional information can be viewed by a user.
 13. Apparatus as in claim 12, further comprising: (k) a guidance animation displayed on multiple display devices; and (l) said display devices providing a user with multiple views of said ablation probe from different angles with respect to a target location within a human body.
 1. Apparatus as in claim 1, further comprising: (h) a guidance animation displayed on multiple display devices; and (i) said display devices providing a user with multiple views of said ablation probe from different angles with respect to a target location within a human body. 